#ifndef __simulation_map_h__
#define __simulation_map_h__

#include <ros/ros.h>
#include <string>

class Map
{
public:
	Map(std::string filename, int width, int height);

	float distance(float x, float y, float direction, float max_range);
	void render();
private:
	int map_width;
	int map_height;
	float x_offset;
	float y_offset;
	char **map;

	ros::Publisher map_publisher;

	void read_map_from_file(std::string file_path);
	bool is_empty(float x, float y);
};

#endif